Pipe handling boom pretensioning apparatus

ABSTRACT

A pre-loading system for a pipe handling apparatus in which a boom is pivotally mounted at one end to a skid and in which an arm is connected to an opposite end of the boom. The pre-loading system has a tensioning assembly with one end affixed to the arm and an opposite end fixedly mounted so as to apply tension to the arm when the arm has a load applied to an end of the arm opposite the boom. The tensioning assembly includes a first cable assembly having one end connected to the arm and an opposite end fixedly mounted, and a second cable assembly connected to the arm and having an opposite end fixedly mounted. The first and second cable assemblies extend from opposite sides of the arm.

CROSS-REFERENCE TO RELATED U.S. APPLICATIONS

The present application is a divisional of U.S. application Ser. No.12/013,979, filed on Jan. 14, 2008, entitled “Pipe Handling BoomPretensioning Apparatus,” and issued as U.S. Pat. No. 7,726,929, whichis a continuation-in-part of U.S. application Ser. No. 11/923,451, filedon Oct. 24, 2007, entitled “Pipe Handling Apparatus and Method,” andissued as U.S. Pat. No. 7,918,636.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

Not applicable.

NAMES OF PARTIES TO A JOINT RESEARCH AGREEMENT

Not applicable.

REFERENCE TO AN APPENDIX SUBMITTED ON COMPACT DISC

Not applicable.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a tubular, or pipe, handling apparatusand casing stabbing apparatus. More particularly, the present inventionrelates to a pipe handling apparatus for moving a pipe from a horizontalorientation to a vertical orientation. Additionally, the presentinvention relates to a pipe handling apparatus for installing pipes andcasing upon a drilling rig. The present invention also relates to a pipehandling apparatus that moves the pipe with a single degree of freedom.

2. Description of Related Art

Including Information Disclosed Under 37 CFR 1.97 and 37 CFR 1.98.

Drill rigs have utilized several methods for transferring tubularmembers from a pipe rack adjacent to the drill floor to a mousehole inthe drill floor or the well bore for connection to a previouslytransferred tubular or tubular string. The term “tubular” or “pipe” asused herein includes all forms of drill pipe, drill collars, casing,liner, bottom hole assemblies (BHA), and other types of tubulars knownin the art.

Conventionally, drill rigs have utilized a combination of the rig cranesand the traveling system for transferring a tubular from the pipe rackto a vertical position above the center of the well. The obviousdisadvantage with the prior art systems is that there is a significantmanual involvement in attaching the pipe elevators to the tubular andmoving the pipe from the drill rack to the rotary table. This manualtransfer operation in the vicinity of workers is potentially dangerousand has caused numerous injuries in drilling operations. Further, thehoisting system may allow the tubular to come into contact with thecatwalk or other portions of the rig as the tubular is transferred fromthe pipe rack to the drill floor. This can damage the tubular and mayaffect the integrity of the connections between successive tubulars inthe well.

One method of transferring pipe from the rack to the well platformcomprises tying one end of a line on the rig around a selected pipe onthe pipe rack. The pipe is thereafter lifted up onto the platform andthe lower end thereof is placed into the mousehole. The mousehole issimply an upright, elongate cylindrical container adjacent to the rotarytable which supports the pipe temporally. When it is necessary to addthe pipe to the drill string, slips are secured about the drill stringon the rotary table thereby supporting the same in the well bore. Thepipe is disconnected from the traveling equipment, and the elevators, orthe kelly, are connected to the pipe in the mousehole. Next, thetraveling block is raised by positioning the pipe over the drill string.Tongs are used to secure the pipe to the upper end of the drill string.The drill pipe elevators suspend the drill pipe from a collar, which isformed around one end of the pipe and does not clamp the pipe, therebypermitting rotational pipe movement in order to threadably engage thesame to the drill string.

A prior art technique for moving joints of casing from racks adjacent tothe drilling rig comprises tying a line from the rig onto one end of aselected casing joint on the rack. The line is raised by lifting thecasing joint up a ramp leading to the rig platform. As the rope liftsthe casing from the rack, the lower end of the casing swings across theplatform in a dangerous manner. The danger increases when a floatingsystem is used in connection with drilling. Because the rope is tiedaround the casing at one end thereof, the casing does not hangvertically, but rather tilts somewhat. A man working on a platformelevated above the rig floor must hold the top of the casing andstraighten it out while the casing is threaded into the casing stringwhich is suspended in the well bore by slips positioned on the rotarytable.

It is desirable to be able to grip casing or pipe positioned on a rackadjacent a drilling well, move the same into vertical orientation overthe well bore, and thereafter lower the same onto the string suspendedin the well bore.

In the past, various devices have been created which mechanically move apipe from a horizontal orientation to a vertical orientation such thatthe vertically oriented pipe can be installed into the well bore.Typically, these devices have utilized several interconnected arms thatare associated with a boom. In order to move the pipe, a succession ofindividual movements of the levers, arms, and other components of theboom must be performed in a coordinated manner in order to achieve thedesired result. Typically, a wide variety of hydraulic actuators areconnected to each of the components so as to carry out the prescribedmovement. A complex control mechanism is connected to each of theseactuators so as to achieve the desired movement. Advanced programming isrequired of the controller in order to properly coordinate the movementsin order to achieve this desired result.

Unfortunately, with such systems, the hydraulic actuators, along withother components, can become worn with time. Furthermore, the hydraulicintegrity of each of the actuators can become compromised over time. Assuch, small variations in each of the actuators can occur. Thesevariations, as they occur, can make the complex mechanism ratherinaccurate. The failure of one hydraulic component can exacerbate theproblems associated with the alignment of the pipe in a verticalorientation. Adjustments of the programming are often necessary so as tocontinue to achieve the desired results. Fundamentally, the morehydraulic actuators incorporated into such a system, the more likely itis to have errors, inaccuracies, and deviations in the desired deliveryprofile of the tubular. Typically, very experienced and knowledgeableoperators are required so as to carry out this pipe movement operation.This adds significantly to the cost associated with pipe delivery.

In the past, pipe handling apparatus have not been used for theinstallation of casing. The problem associated with casing is that thethreads of the casing are formed on an inner wall and on an outer wallat the ends of each of the casing sections. Whenever these threads areformed, the relatively thin wall thickness of the casing is furtherminimized. Additionally, great precision is required so as to properlythread the threads of one casing section within the threads of anadjacent casing section. The amount of accuracy required for thedelivery of the casing by a pipe handling apparatus, in the past, hasnot been sufficient so as to achieve the desired degree of accuracy forthe installation of the casing sections in their threaded connection.The improper installation of one casing section upon another casingsection can potentially damage the threads associated with such casingsections. Additionally, in the past, the pipe handling apparatus couldpotentially damage the thin-walled casing sections during the delivery.As such, a need has developed to adapt a pipe handling apparatus so asto achieve the desired amount of accuracy for the installation of casingsections.

In the past, various patents have issued relating to such pipe handlingdevices. For example, U.S. Pat. No. 3,177,944, issued on Apr. 13, 1965,to R. N. Knights, describes a racking mechanism for earth boringequipment that provides for horizontal storage of pipe lengths on oneside of and clear of the derrick. This is achieved by means of atransport arm which is pivoted toward the base of the derrick for swingmovement in a vertical plane. The outer end of the arm works between asubstantially vertical position in which it can accept a pipe lengthfrom, or deliver a pipe length to, a station in the derrick, and asubstantially horizontal portion in which the arm can deliver a pipelength to, or accept a pipe length from, a station associated withstorage means on one side of the derrick.

U.S. Pat. No. 3,464,507, issued on Sep. 2, 1969, to E. L. Alexander etal., teaches a portable rotary pipe handling system. This systemincludes a mast pivotally mounted and movable between a recliningtransport position to a desired position at the site drilling operationswhich may be at any angle up to vertical. The mast has guides for atraveling mechanism that includes a block movable up and down the mastthrough operation of cables reeved from the traveling block over crownblock pulleys into a drawwork. A power drill drive is carried by thetraveling block. An elevator for drill pipe is carried by an armswingably mounted relative to the power unit. Power tongs, slips, andslip bushings are supported adjacent the lower end of the mast andadapted to have a drill pipe extend therethrough from a drive bushingconnected to a power drive whereby the drill pipe is extended in thedirection of the hole to be drilled.

U.S. Pat. No. 3,633,771 issued on Jan. 11, 1972, to Woolslayer et al.,discloses an apparatus for moving drill pipe into and out of an oil wellderrick. A stand of pipe is gripped by a strong back which is pivotallymounted to one end of a boom. The boom swings the strong back over therotary table thereby vertically aligning the pipe stand with the drillstring. When both adding pipe to and removing pipe from the drillstring, all vertical movement of the pipe is accomplished by theelevator suspended from the traveling block.

U.S. Pat. No. 3,860,122, issued on Jan. 14, 1975, to L. C. Cernosek,describes an apparatus for transferring a tubular member, such as apipe, from a storage area to an oil well drilling platform. Thepositioning apparatus includes a pipe positioner mounted on a platformfor moving the pipe to a release position whereby the pipe can bereleased to be lowered to a submerged position. A load means is operablyattached or associated with the platform and positioning means in orderto move the pipe in a stored position to a transfer position in whichthe pipe is transferred to the positioner. The positioner includes atower having pivotally mounted thereon a pipe track with a plurality ofpipe clamp assemblies which are adapted to receive a pipe length. Thepipe track is pivotally movable by a hydraulic power means or gear meansbetween a transfer position in which pipe is moved into the plurality ofclamp assemblies and the release position in which the pipe is releasedfor movement to a submerged position.

U.S. Pat. No. 3,986,619, issued on Oct. 19, 1976, to Woolslayer et al.,shows a pipe handling apparatus for an oil well drilling derrick. Inthis apparatus, the inner end of the boom is pivotally supported on ahorizontal axis in front of a well. A clamping means is pivotallyconnected to the outer end of the boom on an axis parallel to thehorizontal axis at one end. The clamping means allows the free end ofthe drill pipe to swing across the boom as the outer end of the boom israised or lowered. A line is connected at one end with the travelingblock that raises and lowers the elevators and at the other end to theboom so as to pass around sheaves.

U.S. Pat. No. 4,172,684, issued on Oct. 30, 1979, to C. Jenkins, shows afloor level pipe handling apparatus which is mounted on the floor of anoil well derrick suitable structure. This apparatus includes a supportthat is rockable on an axis perpendicular to the centerline of a wellbeing drilled. One end of an arm is pivotally mounted on the support onan axis transverse to the centerline of the well. The opposite end ofthe arm carries a pair of shoes having laterally opening pipe-receivingseats facing away from the arm. The free end of the arm can be swungtoward and away from the well centerline and the arm support can berocked to swing the arm laterally.

U.S. Pat. No. 4,403,666, issued on Sep. 13, 1983, to C. A. Willis, showsself-centering tongs and a transfer arm for a drilling apparatus. Theclamps of the transfer arm are resiliently mounted to the transfer armso as to provide limited axial movement of the clamps and thereby of aclamped down hole tubular. A pair of automatic, self-centering,hydraulic tongs is provided for making up and breaking out threadedconnections of tubulars.

U.S. Pat. No. 4,407,629, issued on Oct. 4, 1983, to C. A. Willis,teaches a lifting apparatus for downhole tubulars. This liftingapparatus includes two rotatably mounted clamps which are rotatablebetween a side loading-position so as to facilitate the loading andunloading in the horizontal position, and a central position, in which aclamped tubular is aligned with the drilling axis when the boom is inthe vertical position. An automatic hydraulic sequencing circuit isprovided to automatically rotate the clamps into the side-loadingposition whenever the boom is pivoted with a down-hole tubularpositioned in the clamp. In this position, the clamped tubular isaligned with a safety plate mounted on the boom to prevent a clampedtubular from slipping from the clamps.

U.S. Pat. No. 4,492,501, issued on Jan. 8, 1985, to K. M. Haney,provides a platform positioning system for a drilling operation whichincludes a support structure and a transfer arm pivotally connected tothe support structure to rotate about a first axis. This platformpositioning system includes a platform which is pivotally connected tothe support structure to rotate about a second axis, and rod which ismounted between the transfer arm and the platform. The position of thearm and platform axes and the length of the rod are selected such thatthe transfer arm automatically and progressively raises the platform tothe raised position by means of the rod as the transfer arm moves to theraised position. The transfer arm automatically and progressively lowersthe platform to the lowered position by means of the rod as the transferarm moves to the lowered position.

U.S. Pat. No. 4,595,066, issued on Jun. 17, 1986, to Nelmark et al.,provides an apparatus for handling drill pipes and used in associationwith blast holes. This system allows a drill pipe to be more easilyconnected and disconnected to a drill string in a hole being drilled atan angle. A receptacle is formed at the lower end of the carrier thathas hydraulically operated doors secured by a hydraulically operatedlock. A gate near the upper end is pneumatically operated in response tothe hydraulic operation of the receptacle lock.

U.S. Pat. No. 4,822,230, issued on Apr. 18, 1989, to P. Slettedal,teaches a pipe handling apparatus which is adapted for automateddrilling operations. Drill pipes are manipulated between substantiallyhorizontal and vertical positions. The apparatus is used with a topmounted drilling device which is rotatable about a substantiallyhorizontal axis. The apparatus utilizes a strongback provided withclamps to hold and manipulate pipes. The strongback is rotatablyconnected to the same axis as the drilling device. The strong back movesup or down with the drilling device. A brace unit is attached to thestrongback to be rotatable about a second axis.

U.S. Pat. No. 4,834,604, issued on May 30, 1989, to Brittain et al.,provides a pipe moving apparatus and method for moving casing or pipefrom a horizontal position adjacent a well to a vertical position overthe well bore. The machine includes a boom movable between a loweredposition and a raised position by a hydraulic ram. A strongback gripsthe pipe and holds the same until the pipe is vertically positioned.Thereafter, a hydraulic ram on the strongback is actuated therebylowering the pipe or casing onto the string suspended in the well boreand the additional pipe or casing joint is threaded thereto.

U.S. Pat. No. 4,708,581 issued on Nov. 24, 1987, to H. L. Adair,provides a method for positioning a transfer arm for the movement ofdrill pipe. A drilling mast and a transfer arm are mounted at a firstaxis adjacent the mast to move between a lowered position near groundlevel and an upper position aligned with the mast. A reaction pointanchor is fixed with respect to the drilling mast and spaced from thefirst axis. A fixed length link is pivotably mounted to the transfer armat a second axis, spaced from the first axis, and a first single stagecylinder is pivotably mounted at one end to the distal end of the linkand at the other end to the transfer arm. A second single stagehydraulic cylinder is pivotably mounted at one end to the distal end ofthe link and at the other end to the reaction point.

U.S. Pat. No. 4,759,414, issued on Jul. 26, 1988, to C. A. Willis,provides a drilling machine which includes a drilling superstructureskid which defines two spaced-apart parallel skid runners and aplatform. The platform supports a drawworks mounted on a drawworks skidand a pipe boom is mounted on a pipe boom skid sized to fit between theskid runners of the drilling substructure skid. The drillingsubstructure skid supports four legs which, in turn, support a drillingplatform on which is mounted a lower mast section. The pipe boom skidmounts a pipe boom as well as a boom linkage, a motor, and a hydraulicpump adapted to power the pipe boom linkage. Mechanical position lockshold the upper skid in relative position over the lower skid.

U.S. Pat. No. 5,458,454, issued on Oct. 17, 1995, to R. S. Sorokan,describes a pipe handling method which is used to move tubulars usedfrom a horizontal position on a pipe rack adjacent the well bore to avertical position over the wall center. This method utilizes bicep andforearm assemblies and a gripper head for attachment to the tubular. Thepath of the tubular being moved is close to the conventional path of thetubular utilizing known cable transfer techniques so as to allow accessto the drill floor through the V-door of the drill rig. U.S. Pat. No.6,220,807 describes apparatus for carrying out the method of U.S. Pat.No. 5,458,454.

U.S. Pat. No. 6,609,573, issued on Aug. 26, 2003, to H. W. F. Day,teaches a pipe handling system for an offshore structure. The pipehandling system transfers the pipes from a horizontal pipe rack adjacentto the drill floor to a vertical orientation in a set-back area of thedrill floor where the drill string is made up for lowering downhole. Thecantilevered drill floor is utilized with the pipe handling system so asto save platform space.

U.S. Pat. No. 6,705,414, issued on Mar. 16, 2004, to Simpson et al.,describes a tubular transfer system for moving pipe between asubstantially horizontal position on the catwalk and a substantiallyvertical position at the rig floor entry. Bundles of individual tubularsare moved to a process area where a stand make-up/break-out machinemakes up the tubular stands. The bucking machine aligns and stabs theconnections and makes up the connection to the correct torque. Thetubular stand is then transferred from the machine to a stand storagearea. A trolley is moved into position over the pick-up area to retrievethe stands. The stands are clamped to the trolley and the trolley ismoved from a substantially horizontal position to a substantiallyvertical position at the rig floor entry. A vertical pipe-rackingmachine transfers the stands to the traveling equipment. The travelingequipment makes up the stand connection and the stand is run into thehole.

U.S. Pat. No. 6,779,614, issued on Aug. 24, 2004, to M. S. Oser, showsanother system and method for transferring pipe. A pipe shuttle is usedfor moving a pipe joint into a first position and then lifting upwardlytoward an upper second position.

U.S. application Ser. No. 11/923,451, filed on Oct. 24, 2007, by thepresent inventor, discloses a pipe handling apparatus and method. Duringtesting of the apparatus upon which this application is based, it isshown that there was a certain degree of spring back of the arm upon therelease of the pipe onto the drilling rig. During the delivery of thepipe to the drilling rig, the grippers associated with the arm of thisapparatus will be handling a great deal of weight (up to 10,000 pounds).This apparatus proved very effective in placing the pipe in a desiredlocation on the drilling rig. However, upon the release of the weightassociated with the pipe, the grippers and the arm will have a springback of up to 10 inches. Under certain circumstances, this spring backcould serve to deflect the pipe and create unnecessary stresses on theapparatus. As such, a need developed so as to avoid the spring backassociated with the release of the pipe from the grippers and from thearm. Additionally, it was found that by reducing the amount of springback, the accuracy of the pipe handling apparatus associated with thisapplication could achieve a superior amount of precision in theinstallation of the pipe. The avoidance of the spring back and theminimization of the deflection caused by the release of the load allowsthe pipe handling apparatus to be utilized, also, in association withthe stabbing of the fine threads of casing into an adjacent casingsection supported on the drill rig.

It is an object of the present invention to provide a pipe handling andcasing stabbing apparatus and method which minimizes the amount ofcalibration required in order to move the pipe from a horizontalorientation to a vertical orientation.

It is another object of the present invention to provide a pipe handlingand casing stabbing apparatus which operates with a single degree offreedom so as to move the pipe without adjustments between thecomponents.

It is another object of the present invention to provide a pipe handlingand casing stabbing apparatus that can be transported on a skid or on atruck.

It is another object of the present invention to provide a pipe handlingand casing stabbing apparatus and method which allows for theself-centering of the pipe.

It is another object of the present invention to provide a pipe handlingand casing stabbing apparatus and method which can be utilizedindependent of the existing rig.

It is still a further object of the present invention to provide a pipehandling and casing stabbing apparatus and method which avoids the useof multiple hydraulic cylinders and actuators.

It is still another object of the present invention to provide a pipehandling and casing stabbing apparatus and method which minimizes theamount of instrumentation and controls utilized for carrying out thepipe handling activities.

It is still another object of the present invention to provide a pipehandling and casing stabbing apparatus and method which allows for thepipe to be loaded beneath the lifting boom.

It is still a further object of the present invention to provide a pipehandling and casing stabbing apparatus and method which is of minimalcost and easy to use.

It is still a further object of the present invention to provide a pipehandling and casing stabbing apparatus and method which allowsrelatively unskilled workers to carry out the pipe handling activities.

It is a further object of the present invention to provide a pipehandling and casing stabbing apparatus and method which avoids springback of the arm upon release of the load.

It is still an additional object of the present invention to provide apipe handling and casing stabbing apparatus and method which achievesgreater precision in the delivery and installation of pipes and/orcasing.

It is still another object of the present invention to provide a pipehandling and casing stabbing apparatus and method which allows casing tobe installed in a proper manner such that the threads of the casingengage the threads proper of an adjacent casing.

It is still another object of the present invention to provide a pipehandling and casing stabbing apparatus and method which increases thestructural stiffness of the apparatus.

These and other objects and advantages of the present invention willbecome apparent from a reading of the attached specification andappended claims.

BRIEF SUMMARY OF THE INVENTION

The present invention is a pre-loading system for a pipe handlingapparatus in which a boom is pivotally mounted at one end to a skid andin which an arm is interconnected to an opposite end of the boom. Thepre-loading system includes a tensioning assembly having a one endaffixed to the arm and an opposite end fixedly mounted. The tensioningassembly serves to apply tension to the arm when the arm has a loadapplied to an end of the arm opposite the boom. In particular, thistensioning assembly serves to avoid any spring back of the arm upon therelease of the load from the arm.

In the present invention, the tensioning assembly includes a first cableassembly having one end interconnected to the arm and an opposite endfixedly mounted. This first cable assembly extends from one side of thearm. A second cable assembly also has one end interconnected to the armand an opposite end fixedly mounted. The second cable assembly extendsfrom an opposite side of the arm. Each of the first and second cableassemblies includes a link member pivotally mounted to the arm, a cableaffixed to the link member at one end thereof, a spring pod affixed toan opposite end to the cable, and a member having one end connected tothe spring pod and an opposite end affixed to skid. Each of the firstand second cable assemblies further comprises a stop affixed to the arm.This stop has a surface suitable for abutting the link when thetensioning assembly applies tension to the arm. The spring pod has aconnector element affixed to the opposite end of the cable and to oneend of the member, and a resilient assembly interconnected to theconnector element. This resilient assembly serves to urge the connectorelement in a direction away from alignment of the member with the cable.The resilient assembly includes a spring having one end affixed to theskid and an opposite end connected to the connector element.Alternatively, the resilient assembly is a pneumatic cylinder assemblyhaving one end affixed to the skid and an opposite end connected to theconnector element. The pneumatic cylinder serves to apply an adjustabletension to the cable.

The member comprises a first elongate element having one end affixed tothe skid and an opposite end affixed to the connector element, and asecond elongate element having one end affixed to the skid and anopposite end affixed to the connector element. The first and secondelongate elements extend at an acute angle with respect to each other.

The present invention is also a pipe handling apparatus that comprises aboom that is pivotally movable between a first position and a secondposition, a lever pivotally connected to the boom, an arm pivotallyconnected at one end to the lever and extending outwardly therefrom, agripper assembly affixed to an opposite end of the arm suitable forgripping a diameter of the pipe, a link pivotally connected to the leverand pivotable at an end so as to move relative to the movement of theboom between the first and second positions, a brace having a one endpivotally connected to the boom and an opposite end pivotally connectedto the arm between the ends of the arm, and a tensioning assembly havingone end affixed to the arm and an opposite end fixedly mounted. Thetensioning assembly serves to apply tension to the arm when the arm hasa pipe or a casing applied at one end of the arm opposite the boom.

The present invention is also a method of moving a pipe from ahorizontal orientation. This method comprises the steps of: (1)extending a boom over the horizontally-oriented pipe such that grippersare positioned adjacent to the horizontally-oriented pipe; (2) grippingthe horizontally-oriented pipe with the grippers; (3) pivoting the boomupwardly such that the pipe is moved angularly through an interior ofthe boom until the pipe is in a vertical orientation; and (4) applyingtension to the arm at a location in spaced relationship to the gripperswhen the pipe is in the vertical orientation. The step of applyingtension includes extending the cable assembly away from the arm towardthe skid, and resiliently drawing the cable assembly away from linearorientation at a location between the arm and the skid. In particular,this involves connecting a link member to the arm, connecting the cableto the link member at an end of the link member opposite the arm, androtating the link member as the boom moves from thehorizontally-oriented position to the position in which the pipe is invertical orientation.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

FIG. 1 is a side elevation view showing the pipe handling apparatus inaccordance with the teachings of the preferred embodiment of the presentinvention.

FIG. 2 is a side elevational view showing the pipe handling apparatus ofthe present invention in a first position.

FIG. 3 is a side elevational view showing the pipe handling apparatusmoving from the first position toward the second position.

FIG. 4 is a side elevational view of the pipe handling apparatus showingthe pipe handling apparatus as moving the pipe further to the secondposition.

FIG. 5 is a side elevational view showing the pipe handling apparatus inits second position in which the pipe extends in a vertical orientation.

FIG. 6 is an illustration of the gripper assembly as verticallytranslating the pipe.

FIG. 7 is a side elevational view of a first alternative embodiment ofthe gripper assembly of the present invention.

FIG. 8 is a side elevational view showing a second alternativeembodiment of the gripper assembly of the present invention.

FIG. 9 is a side elevational view showing a third alternative embodimentof the gripper assembly of the present invention.

FIG. 10 shows a perspective view in which the tensioning system isapplied to the arm of the pipe handling apparatus in accordance with theteachings of the present invention.

FIG. 11 is a diagrammatic illustration of the resilient assemblyutilized to deflect the cables associated with the pre-loading system ofthe present invention.

FIG. 12 is a perspective view showing the orientation of the pre-loadingsystem of the present invention when the boom is in a generallyhorizontal orientation.

FIG. 13 is a perspective view of the pre-loading system of the presentinvention as the boom moves from the horizontal orientation toward thevertical orientation.

DETAILED DESCRIPTION OF THE INVENTION

Referring to FIG. 1, there is shown the pipe handling apparatus 10 inaccordance with the preferred embodiment of the present invention. Thepipe handling apparatus 10 is mounted on a skid 12 that is supportedupon the bed 14 of a vehicle, such as a truck. The pipe handlingapparatus 10 in particular includes a boom 16 that is pivotally movablebetween a first position and a second position. In FIG. 1, anintermediate position of the pipe handling apparatus 10 is particularlyshown. In this position, the pipe 18 is illustrated in its positionprior to installation on the drill rig 20. A lever 22 is pivotallyconnected to the boom 16. An arm 24 is pivotally connected to an end ofthe lever 22 opposite the boom 16. A gripping assembly 26 is fixedlyconnected to an opposite end of the arm 24 opposite the lever 22. Thegripping assembly 26 includes a body 28 and grippers 30 and 32. A link34 has one end pivotally connected to the skid 12 and an opposite endpivotally connected to the end of the lever 22 opposite the arm 24. Abrace 36 is pivotally connected to the boom 16 and also pivotallyconnected to the arm 24 between the lever 22 and the body 28 of grippingassembly 26.

In the present invention, the boom 16 is a structural framework ofstruts, cross members and beams. In particular, in the presentinvention, the boom 16 is configured so as to have an open interior suchthat the pipe 18 will be able to be lifted in a manner so as to passthrough the interior of the boom 16. As such, the end 38 of the boom 16should be strongly reinforced so as to provide the necessary structuralintegrity to the boom 16. A lug 40 extends outwardly from one side ofthe boom 16. This lug 40 is suitable for pivotable connection to thelever 22. The boom 16 is pivotally connected at the opposite end 42 to alocation on the skid 12. The pivotable connection at end 42 of the boom16 is located in offset relationship and above the pivotable connection44 of the link 34 with the skid 12. A small frame member 46 extendsoutwardly from the side of the boom 16 opposite the link 34. This frameassembly 46 has a pivotable connection with the brace 36.

The lever 22 includes a first portion 48 and a second portion 50. Thefirst portion 48 extends at an obtuse angle with respect to the secondportion 50. The link 34 is pivotally connected to the end of the secondportion 50 opposite the first portion 48. The arm 24 is pivotallyconnected to the end of the first portion 48 opposite the second portion50. The lug 40 of the boom 16 is pivotally connected in an areagenerally between the first portion 48 and the second portion 50. Thisunique arrangement of the lever 22 facilitates the ability of thepresent invention to carry out the movement of the pipe 18 between thehorizontal orientation and the vertical orientation.

The arm 24 has an end pivotally connected to the end of the firstportion 48 of the lever 22. The opposite end of the arm 24 is connectedto the gripping assembly 26. In particular, a pair of pin connectionsengages a surface of the body 28 of the gripping assembly 26 so as tofixedly position the gripping assembly 26 with respect to the end of thearm 24. The pin connections 52 and 54 can be in the nature of bolts, orother fasteners, so as to strongly connect the body 28 of the grippingassembly 26 with the arm 24. The bolts associated with pin connections52 and 54 can be removed such that other gripping assemblies 26 can beaffixed to the end of the arm 24. As such, the pipe handling apparatus10 of the present invention can be adaptable to various sizes of pipe 18and various heights of drilling rigs 20.

The gripping assembly 26 includes the body 28 with the grippers 30 and32 translatable along the length of the body 28. This verticaltranslation of the grippers 30 and 32 allows the pipe 18 to be properlymoved upwardly and downwardly once the vertical orientation of the pipe18 is achieved. The grippers 30 and 32 are in the nature of conventionalgrippers which can open and close so as to engage the outer diameter ofthe pipe 18, as desired.

The link 34 is an elongate member that extends from the pivotableconnection 44 to the pivotable connection 68 of the second portion 50 ofthe lever 22. The link 34 is non-extensible and extends generallyadjacent to the opposite side from the boom 16 from that of the arm 24.The link 34 will generally move relative to the movement of the boom 16.The brace 36 is pivotally connected to the small framework 46 associatedwith boom 16 and also pivotally connected at a location along the arm 24between the ends thereof. Brace 36 provides structural support to thearm 24 and also facilitates the desired movement of the arm 24 duringthe movement of the pipe 18 between the horizontal orientation and thevertical orientation.

Actuators 56 and 58 are illustrated as having one end connected to theskid 12 and an opposite end connected to the boom 16 in a location abovethe end 42. When the actuators 56 and 58 are activated, they will pivotthe boom 16 upwardly from the horizontal orientation ultimately to aposition beyond vertical so as to cause the pipe 18 to achieve avertical orientation. Within the concept of the present invention, asingle hydraulic actuator can be utilized instead of the pair ofhydraulic actuators 56 and 58, as illustrated in FIG. 1.

The drilling rig 20 is illustrated as having drill pipes 60 and 62extending upwardly so as to have an end above the drill floor 64. Whenthe pipe 18 is in its vertical orientation, the translatable movement ofthe grippers 30 and 32 can be utilized so as to cause the end of thepipe 18 to engage with the box of one of the drill pipes 60 and 62.

In FIG. 1, the general movement of the bottom end of the pipe 18 isillustrated by line 66. The movement of the pivot point 68 of theconnection between the lever 22 and the link 34 is illustrated by line70. Curved line 71 illustrates the movement of the pivotable connection40 between the boom 16 and the lever 22.

In the present invention, the coordinated movement of each of thenon-extensible members of the apparatus 10 is achieved with propersizing and angular relationships. In essence, the present inventionprovides a four-bar link between the various components. As a result,the movement of the drill pipe 18 between a horizontal orientation and avertical orientation can be achieved purely through the mechanicsassociated with the various components. As can be seen, only a singlehydraulic actuator may be necessary so as to achieve this desiredmovement. There does not need to be coordinated movement of hydraulicactuators. The hydraulic actuators are only used for the pivoting of theboom. Since the skid 12 is located on the bed of a vehicle 14, thevehicle 14 can be maneuvered into place so as to properly align with thecenterline of the drill pipes 60 and 62 of the drilling rig 20. Once theproper alignment is achieved by the vehicle 14, the apparatus 10 can beoperated so as to effectively move the drill pipe to its desiredposition. The gripper assemblies of the present invention allow thedrill pipe 18 to be moved upwardly and downwardly for the properstabbing of the drill pipes 60 and 62. The present invention isadaptable to various links of pipe 18.

Various types of gripping assemblies 26 can be installed on the end ofthe arm 24 so as to properly accommodate longer lengths of pipe 18.These variations are illustrated herein in connections shown in FIGS.6-9.

As such, instead of the complex control mechanisms that are requiredwith prior art systems, the present invention achieves its results bysimple maneuvering of the vehicle 14, along with operation of thehydraulic cylinders 56 and 58. All other linkages and movement of thepipe 18 are achieved purely because of the mechanical connectionsbetween the various components. As such, the present invention assures aprecise, self-centering of the pipe 18 with respect to the desiredconnecting pipe. This is accomplished with only a single degree offreedom in the pipe handling system.

FIG. 2 illustrates the drill pipe 18 in a generally horizontalorientation. In the present invention, it is important to note that thedrill pipe can be delivered to the apparatus 10 in a position below theboom 16. In particular, the drill pipe can be loaded upon the skid 12 ina location generally adjacent to the grippers 30 and 32 associated withthe gripping assembly 26. As such, the present invention facilitates theeasy delivery of the drill pipe to the desired location. The grippers 30and 32 will grip the outer diameter of the pipe 18 in this horizontalorientation.

In FIG. 2, it can be seen that the boom 16 resides above the drill pipe18 and in generally parallel relationship to the top surface of the skid12. The lever 22 is suitably pivoted so that the arm 24 extends throughthe interior of the framework of the boom 16 and such that the grippingassembly 26 engages the pipe 18. The brace 36 resides in connection withthe small framework of the boom 16 and also is pivotally connected tothe arm 24. The link 34 will reside below the boom 16 generally adjacentto the upper surface of the skid 12 and is connected to the secondportion 50 of the lever 22 below the boom 16.

FIG. 3 shows an intermediate position of the drill pipe 18 during themovement from the horizontal orientation to the vertical orientation. Ascan be seen, the gripping assembly 26 has engaged with the pipe 18. Thelever 22 is pivoting so that the end 70 of pipe 18 will pass through theinterior of the framework of the boom 16. Also, the arm associated withthe gripping assembly 26 serves to move the body 28 of the grippingassembly 26 through the interior of the framework of the boom 16. Thebrace 36 is pulling on the first portion 48 of lever 22 so as to causethis motion to occur. The link 34 is pulling on the end of the secondportion 50 of the lever 22 so as to draw the first portion 48 upwardlyand to cause the movement of the body 28 of the gripping assembly 26.The hydraulic actuators 56 and 58 have been operated so as to urge theboom 16 pivotally upwardly.

FIG. 4 shows a further intermediate movement of the drill pipe 18. Onceagain, the hydraulic actuators 56 and 58 urge the boom 16 angularlyupwardly away from the top surface of the skid 12. This causes the link34 to have a pulling force on the pivotal connection 68 of the secondportion 50 of the lever 22. This causes the first portion 48 of thelever 22 to move upwardly thereby causing the arm 24, in combinationwith the brace 36, to lift the gripping assembly 26 further upwardly anddraw the pipe 18 completely through the interior of the boom 16. As canbe seen, the relative size and relation of the various components of thepresent invention achieve the movement of the pipe 18 without the needfor separate hydraulic actuators.

FIG. 5 illustrates the drill pipe 18 in its vertical orientation. As canbe seen, the drill pipe 18 is positioned directly above the underlyingpipe 62 on the drilling rig 20. The further upward pivotal movement ofthe boom 16 is caused by the hydraulic cylinders 56 and 58. This causesthe link 34 to rotate and draw the end of the second portion 50 of thelever 22 downwardly. The lever 22 rotates about the pivot point 40 suchthat the first portion 48 of the lever 22 has a pivot 72 at its upperend. The brace 36 is now rotated in a position so as to provide supportfor the arm 24 in this upper position. The gripping assembly 26 hasgrippers 30 and 32 aligned vertically and in spaced parallelrelationship to each other. If any further precise movement is requiredbetween the bottom end 80 of the pipe 18 and the upper end 82 of pipe62, then the vehicle 14 can be moved slightly so as to achieve furtherprecise movement. In the manner described hereinbefore, the drill pipe18 has achieved a completely vertical orientation by virtue of theinterrelationship of the various components of the present invention andwithout the need for complex control mechanisms and hydraulics.

In order to install the drill pipe 18 upon the pipe 62, it is onlynecessary to vertically translate the grippers 30 and 32 within the body28 of the gripping assembly 26. As such, the end 80 may be stabbed intothe box connection 82 of pipe 62. Suitable tongs, spinners, or othermechanisms may be utilized so as to rotate the pipe 18 in order toachieve a desired connection. The grippers 30 and 32 may then bereleased from the exterior of the pipe 18 and returned back to theoriginal position such that another length of drill pipe can beinstalled.

FIG. 6 is a detailed view of the gripping assembly 26 of the presentinvention. In FIG. 6, the pin connections 52 and 54 have been installedinto alternative holes formed on the body 28 of the gripping assembly26. The holes, such as hole 84, may be formed in a surface of the body28 so as to allow selective connection between the end of the arm 24 andthe body 28 of gripping assembly 26. As such, the position of thegripping assembly 26 in relation to the arm 24 may be adapted to variouscircumstances.

It can be seen that the pipe 18 is engaged by grippers 30 and 32 of thegripping assembly 26. The configuration of the grippers 30 and 32, asshown in FIG. 6, is particularly designed for a short length(approximately 30 feet) of drill pipe. In FIG. 6, it can be seen thatthe grippers 30 and 32 are translated relative to the body 28 so as tolower end 80 of pipe 18 downwardly for connection to an underlying pipe.

Occasionally, it is necessary to accommodate longer lengths of pipe. Inother circumstances, it is desirable to accommodate pipes that arealready assembled in an extended length. In FIG. 7, it can be seen thatthe drill pipe 18 is formed of separate sections 90, 92, 94, and 96 thatare joined in end-to-end connection so as to form an extended length ofthe pipe 18. When such pipe arrangements are required, the grippingassembly 26 of the present invention may be adapted so as to accommodatesuch extended lengths. Fortunately, the structure of the apparatus 10 ofthe present invention may accommodate such an arrangement. As can beseen in FIG. 7, the arm 24 is connected to a first gripper assembly 100and connected by framework 102 to a second gripper assembly 104. Thesecond gripper assembly 104 is located directly below and verticallyaligned with the first gripper assembly 100. The framework 102 includesa suitable pin connection for engaging the body 106 of the secondgripper assembly 104. The first gripper assembly 100 has body 108 thatis directly connected to the pin connections associated with the arm 24.The gripping assembly 100 includes grippers 110 and 112 which engage inintermediate position along the length of pipe 18. The grippers 114 and116 of the second gripper assembly 104 engage the lower portion of thepipe 18. The method of moving the pipe 18 from the horizontal positionto the vertical position is similar to that described hereinbefore.

It should be noted that the arm 24 can extend at various angles withrespect to the gripper assemblies 100 and 104. In the preferredembodiment, the arm 24 will be generally transverse to the length of thebody associated with the gripper assemblies 100 and 104. However, ifneeded to accommodate certain drilling rig height and arrangements, thearm 24 may be angled up to 30° from transverse with respect to the bodyassociated with the gripper assemblies 100 and 104.

In FIG. 8, it can be seen that the arm 24 has a first framework 120extending upwardly from the top of the arm 24 and a second framework 122extending below the arm 24. The framework 120 includes a gripperassembly 124 affixed thereto. The framework 122 includes a gripperassembly 126 connected thereto. The arm 24 may include suitable pinconnections located on the top surface thereof and on the bottom surfacethereof so as to engage with the frameworks 120 and 122. The gripperassembly 124 has suitable grippers 128 and 130 for engaging an upperportion of the pipe 132. The gripper assembly 126 includes grippers 134and 136 for engaging with a lower portion of the pipe 132. Asillustrated in FIG. 8, the pipe 132 is a multiple section pipe. However,pipe 132 may be an extended length of a single pipe section.

FIG. 9 shows still another embodiment of the gripper assembly structureof the present invention. In FIG. 9, the arm 24 is connected to theupper framework 150 and to the lower framework 152. Gripping assemblies154, 156 and 158 are provided. The gripper assembly 154 is connected toan upper end of the upper framework 150. The gripper assembly 158 isconnected to a lower end of the lower framework 152. The gripperassembly 156 is intermediately located directly on the opposite side ofthe end of the arm 24 and connected to the lower end of the upperframework 150 and to the upper end of the lower framework 152. As such,the present invention provides up to three gripper assemblies 154, 156,and 158 to be connected. This can be utilized so as to accommodate evenlonger lengths of pipe, if needed.

The present invention achieves a number of advantages over the priorart. Most importantly, the present invention provides a pipe handlingapparatus and method that minimizes the number of control mechanisms,sensors and hydraulic systems associated with the pipe handling system.Since the movement of the pipe is achieved in a purely mechanical way,only a single hydraulic actuator is necessary for the movement of theboom. All of the other movements are achieved by the interrelationshipof the various components. As such, the present invention achievesfreedom from the errors and deviations that can occur through the use ofmultiple hydraulic systems. The simplicity of the present inventionfacilitates the ability of a relatively unskilled worker to operate thepipe handling system. The amount of calibration is relatively minimal.Since the skid 12 associated with the present invention may betransported by a truck, various fine movements and the location of thepipe handling apparatus 10 can be achieved through the simple movementof the vehicle. The pipe handling apparatus 10 of the present inventionis independent of the drilling rig. As such, a single pipe handlingapparatus that is built in accordance with the teachings of the presentinvention may be utilized on a number of rigs and may be utilized at anytime when required. There is no need to modify the drilling rig, in anyway, to accommodate the pipe handling apparatus of the presentinvention. Since the pipes are loaded beneath the boom, the providing ofthe pipe to the pipe handling apparatus may be achieved in a very simplemanner. There is no need to lift the pipes to a particular elevation ororientation in order to initiate the pipe handling system.

Referring to FIG. 10, there is shown the pipe handling and casingstabbing apparatus 200 in accordance with the teachings of the presentinvention. The pipe handling and casing stabbing apparatus 200 has aconfiguration of boom 202, arm 204, brace 206, link 208, and skid 210similar to the construction described herein previously. The pipehandling and casing stabbing apparatus 200 includes the addition of atensioning assembly 210 applied to the arm 204 and to the skid 210.

The tensioning assembly 210 includes a first cable assembly 214 and asecond cable assembly 216 which are affixed on opposite sides of the arm204. In particular, the first cable assembly 214 is affixed to a linkmember 218 that is fixedly pivotally mounted on the arm 204. A stop 220extends outwardly from the side of the arm 204. The stop 220 serves tostop rotational movement of the link member 218 as the arm 204 moves ina proper direction for the delivery of pipe and/or casing. The cableassembly 214 also includes a cable 222 that has one end affixed to thelink member 218 opposite the pivotal connection 224 with arm 204. Thecable 222 extends downwardly from the arm 204 so as to be interconnectedto the skid 210. In FIG. 10, the cable assemblies 214 and 216 are shownas applying tension to the arm 204. This tension serves to offset theload of the pipe as received by the grippers which are affixed to theend 226 of arm 204 (not shown). The second cable assembly 216 has aconfiguration identical to that of first cable assembly 214.

Importantly, a first spring pod 228 is connected to the end of the cable222 opposite the arm 204. A second spring pod 230 is affixed to thecable 232 associated with the second cable assembly 216. The spring pods228 and 230 serve to apply an angular deflection to each of the cableassemblies 214 and 216 so as to selectively supply tension to the arm204.

As may be seen, a connector element 234 is connected to the end of cable222. Connector element 234 is also connected to a resilient assembly236. An elongate member 238 joins the connector element 234 to the skid210. Similarly, the cable 232 has an end opposite the arm 204 connectedto the connector element 240. Another resilient assembly 242 is joinedto the connector element 240 so as to cause a deflection in the cableassembly 216. The resilient assembly 242 is fixedly positioned on theskid 210. Another elongate member 244 joins the connector element 240 tothe skid 210.

In normal use, the resilient assemblies 236 and 242 serve to exert aresilient force which urges each of the cable assemblies 214 and 216slightly out of linear alignment between the respective cables 222 and232 with the elongate members 238 and 244. By pulling the connectorelements 234 and 240, respectively, toward the resilient assemblies 236and 242, a greater degree of tension can be applied to the cableassemblies 214 and 216 and, in turn, to the arm 204.

As used herein, each of the resilient assemblies 236 and 242 may be inthe form of spring assemblies, as illustrated in FIG. 10, or may be inthe nature of a pneumatic cylinder.

In particular, in FIG. 11, it may be seen how the cable 222 is connectedto the connector element 234 and to a pair of elongate members 238 and250. The first elongate member 238 extends at an acute angle withrespect to the second elongate member 250. The resilient assembly 236 isin the form of a pneumatic cylinder 252. A source of pneumatic pressure254 communicates with the interior of the pneumatic cylinder 252 so asto allow for the adjustment of the degree of movement of the piston 256.As the piston 256 is drawn into the pneumatic cylinder 252, the piston256 will draw the connector element 234 toward the pneumatic cylinder252 and increase the amount of deflection between the elongate members238 and 250 relative to the cable 222. The pneumatic cylinder 252 isaffixed to the skid 210 at an end opposite the connector element 234.

The pre-loading system 200, as shown in FIGS. 10 and 11 greatly enhancesthe ability to avoid spring back and to establish greater precession inthe delivery of pipe and/or casing to the drilling rig. It has beenfound that, in experimental tests, 0.03 inches of total lateral motionapplied to the cable assemblies 214 and 216 allows for the removal oraddition of 10,000 pounds (the maximum payload) of load applied to thearm 204. The ability to avoid the spring back and to achieve thismaximum accuracy allows the present invention to stab casing within a ⅛of an inch tolerance. This deflection of the cable assemblies 214 and216 increases the stiffness of the pipe handling apparatus of thepresent invention by a factor of 300. The load is shifted directly fromthe arm 204 toward the stop and the anchoring on the skid 210 instead ofdirectly on the arm.

FIG. 12 shows the boom 202 in its generally horizontal orientation uponthe skid 210. In this position, the gripper assemblies associated withthe arm 204 are in position to receive a pipe or casing therein. It canbe seen that the link members 218 and 260 are in a position away fromthe respective stops. The link members 218 and 260 may rotate about thepivot point 224 during the movement of the arm 204 and during themovement of the boom 202. The respective cable assemblies 214 and 216will generally drape along the outside of the boom 202.

FIG. 13 shows the movement of the boom 202 from the position adjacent tothe skid to the vertical position. As can be seen, the arm 204 ispivoting with respect to lever 262. The link member 218 is pivotable androtatable about the pivot point 224 during this movement. It can be seenthat the arm 204 will move upwardly between the respective cableassemblies 214 and 216. Eventually, the arm 204 will assume a generallyhorizontal orientation when it is necessary to position the pipe and/orcasing into a desired position. This causes the link member 218 tocontact the stop 220. As a result, the tensioning of the arm 204 canbegin.

The enhanced accuracy and the ability to avoid deflection of the arm 204during the installation and release of the pipe and/or casing enhancesthe ability of the present invention to deliver casing to the drillingrig. Since the casing must be delivered with extreme accuracy, theavoidance of deflection, as caused by the present invention, may allowthe maximum amount of deflection to be merely 0.3 inches. When theweight of the pipe and/or casing is released, any deflection is absorbedby the stop 220 and by an anchor, such as the skid 210. The arm 204 willbe maintained in a generally fixed position at this time, rather thanspringing back.

The foregoing disclosure and description of the invention isillustrative and explanatory thereof. Various changes in the details ofthe illustrated construction can be made within the scope of theappended claims without departing from the true spirit of the invention.The present invention should only be limited by the following claims andtheir legal equivalents.

1. A pipe handling apparatus comprising: a boom pivotally movablebetween a first position and a second position; a lever pivotallyconnected to the boom, the lever having a first portion extendingoutwardly at an obtuse angle with respect to a second portion; an armpivotally connected at one end to the first portion of the lever andextending outwardly therefrom; a gripper assembly affixed to an oppositeend of the arm, the gripper assembly for gripping a diameter of a pipe;a link pivotally connected to the second portion of the lever, the linkpivotable at an end of the second portion opposite of the first portionso as to move relative to the movement of the boom between the first andsecond positions; a brace having a one end pivotally connected to theboom and an opposite end pivotally connected to the arm between the endsof the arm; and, a tensioning assembly having one end affixed to the armand an opposite end fixedly mounted, the tensioning assembly forapplying tension to the arm when the arm has the pipe received withinthe gripper assembly.
 2. The pipe handling apparatus of claim 1, furthercomprising: a skid extending in a horizontal orientation and positionedbelow the boom, the boom being pivotally mounted upon the skid.
 3. Thepipe handling apparatus of claim 2, the tensioning assembly comprising:a first cable assembly having one end connected to the arm and anopposite end fixedly mounted, the first cable assembly extending fromone side of the arm; and, a second cable assembly having one endconnected to the arm and an opposite end fixedly mounted, the secondcable assembly extending from an opposite side of the arm.
 4. The pipehandling apparatus of claim 3, each of the first and second cableassemblies comprising: a link member pivotally mounted to the arm; acable affixed to an end of the link member at an end thereof oppositethe arm; a spring pod affixed to an opposite end of the cable; and, anelongate member having one end connected to the spring pod and anopposite end affixed to the skid.
 5. The pipe handling apparatus ofclaim 4, each of the first and second cable assemblies furthercomprising: a stop affixed to the arm, the stop having a surfacesuitable for abutting the link member when the tensioning assemblyapplies tension to the arm.
 6. The pipe handling apparatus of claim 4,the spring pod comprising: a connector element affixed to the oppositeend of the cable and to the one end of the elongate member; and, aresilient assembly connected to the connector element, the resilientassembly for urging the connector element in a direction away fromalignment of the elongate member with the cable.
 7. The pipe handlingapparatus of claim 6, the resilient assembly comprising: a spring havingone end affixed to the skid and an opposite end connected to theconnector element.
 8. The pipe handling apparatus of claim 6, theresilient assembly comprising: a pneumatic cylinder assembly having oneend affixed to the skid and an opposite end connected to the connectorelement.
 9. A method of moving a pipe from a horizontal orientation forinstallation in a vertical orientation comprising: extending a boom overthe horizontally-oriented pipe such that grippers are positionedadjacent to the horizontally-oriented pipe, the grippers being affixedto an arm pivotally connected to a lever, the lever being pivotallymounted to the boom; gripping the horizontally-oriented pipe with thegrippers; pivoting the boom upwardly such that the pipe is movedangularly through an interior of the boom and until the pipe is in avertical orientation; and, applying tension to the arm at a location inspaced relationship to the lever and to the gripper when the pipe is inthe vertical orientation.
 10. The method of claim 9, the step ofapplying tension comprising: extending a cable assembly from the arm toa fixed mounting position; and, resiliently drawing the cable assemblyaway from linear at a location between the arm and the fixed mountingposition such that the cable assembly applies a desired amount oftension to the arm.
 11. The method of claim 10, further comprising:connecting a link member to the arm; connecting the cable to the linkmember at an end of the link member opposite the arm; rotating the linkmember as the boom moves from a position adjacent to thehorizontally-oriented pipe to a position in which the boom is pivotedsuch that the pipe is in vertical orientation; and, stopping therotation of the link member when the pipe is in the verticalorientation.